Radar-Only Odometry and Mapping for Autonomous Vehicles
Daniel Casado Herraez,Matthias Zeller,Le Chang,Ignacio Vizzo,Michael Heidingsfeld,Cyrill Stachniss,Daniel Casado Herraez,Matthias Zeller,Le Chang,Ignacio Vizzo,Michael Heidingsfeld,Cyrill Stachniss
Odometry and mapping play a pivotal role in the navigation of autonomous vehicles. In this paper, we address the problem of pose estimation and map creation using only radar sensors. We focus on two odometry estimation approaches followed by a mapping step. The first one is a new point-to-point ICP approach that leverages the velocity information provided by 3D radar sensors. The second one is adv...
